\hypertarget{bumpers_8c}{
\section{atmega1281/low/bumpers/bumpers.c File Reference}
\label{bumpers_8c}\index{atmega1281/low/bumpers/bumpers.c@{atmega1281/low/bumpers/bumpers.c}}
}
{\ttfamily \#include \char`\"{}bumpers.h\char`\"{}}\par
{\ttfamily \#include $<$avr/io.h$>$}\par
{\ttfamily \#include $<$avr/interrupt.h$>$}\par
\subsection*{Defines}
\begin{DoxyCompactItemize}
\item 
\#define \hyperlink{bumpers_8c_ac7a1abd6259a76775898a036a54b857f}{DDR\_\-BMP\_\-FLEFT}~DDRC
\item 
\#define \hyperlink{bumpers_8c_a2d8dc099d17f5a4a9a418774c3732162}{DDR\_\-BMP\_\-FRIGHT}~DDRC
\item 
\#define \hyperlink{bumpers_8c_a27d0310d8d651cad25b42d3f69473b6b}{DDR\_\-BMP\_\-BLEFT}~DDRC
\item 
\#define \hyperlink{bumpers_8c_ab79c07df430cd40450ffde6c73681952}{DDR\_\-BMP\_\-BRIGHT}~DDRC
\item 
\#define \hyperlink{bumpers_8c_a422e1539b06e6645658c6c683ba7a1c3}{PORT\_\-BMP\_\-FLEFT}~PORTC
\item 
\#define \hyperlink{bumpers_8c_a43716c4bbf698726481b488113fb3578}{PORT\_\-BMP\_\-FRIGHT}~PORTC
\item 
\#define \hyperlink{bumpers_8c_a3ed77c93f74b86920f484dd49539768d}{PORT\_\-BMP\_\-BLEFT}~PORTC
\item 
\#define \hyperlink{bumpers_8c_a52a7528175dd31e25cac97a86d23c5c0}{PORT\_\-BMP\_\-BRIGHT}~PORTC
\item 
\#define \hyperlink{bumpers_8c_a3b81bf98edab254fcb26f46b38d5666b}{PORTPIN\_\-BMP\_\-FLEFT}~PINC
\item 
\#define \hyperlink{bumpers_8c_a3dd2b8f3e86067164293943f97a45771}{PORTPIN\_\-BMP\_\-FRIGHT}~PINC
\item 
\#define \hyperlink{bumpers_8c_a5889dc92bab5a071b581c51b7b5b7710}{PORTPIN\_\-BMP\_\-BLEFT}~PINC
\item 
\#define \hyperlink{bumpers_8c_a89bcc764484fb730fdf61b9399969386}{PORTPIN\_\-BMP\_\-BRIGHT}~PINC
\item 
\#define \hyperlink{bumpers_8c_a124939734d84456fabf12c8de8ce1329}{PIN\_\-BMP\_\-FLEFT}~PC0
\item 
\#define \hyperlink{bumpers_8c_a84c08209af021c951f5c2e3eb559d84c}{PIN\_\-BMP\_\-FRIGHT}~PC1
\item 
\#define \hyperlink{bumpers_8c_a2722e486bb4bd3fa3c2014821b885625}{PIN\_\-BMP\_\-BLEFT}~PC2
\item 
\#define \hyperlink{bumpers_8c_a74ca582151b7fa03e3c1c38a21696bab}{PIN\_\-BMP\_\-BRIGHT}~PC3
\item 
\#define \hyperlink{bumpers_8c_aa5ed9e4ad40658121f5f231361da7792}{BMP\_\-INT\_\-EN}~PCIE0
\item 
\#define \hyperlink{bumpers_8c_a698e4c4ef51eb6a361fb44ce16a56985}{BMP\_\-INT\_\-PIN}~PCINT4
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
unsigned char \hyperlink{group__nxbot__bumper_gae9f4813b3a75478b52dc9790e70d313b}{bumpers\_\-read} ()
\begin{DoxyCompactList}\small\item\em returns the last updated state of the bumpers. \item\end{DoxyCompactList}\item 
void \hyperlink{group__nxbot__bumper_ga5d32322bb79bd9d9249ffca5fe412383}{bumpers\_\-init} ()
\begin{DoxyCompactList}\small\item\em Hardware initialization for the bumpers module. \item\end{DoxyCompactList}\item 
\hyperlink{bumpers_8c_aa64c6dce15e9de9105b4ae9533c9a267}{ISR} (PCINT0\_\-vect)
\end{DoxyCompactItemize}


\subsection{Define Documentation}
\hypertarget{bumpers_8c_aa5ed9e4ad40658121f5f231361da7792}{
\index{bumpers.c@{bumpers.c}!BMP\_\-INT\_\-EN@{BMP\_\-INT\_\-EN}}
\index{BMP\_\-INT\_\-EN@{BMP\_\-INT\_\-EN}!bumpers.c@{bumpers.c}}
\subsubsection[{BMP\_\-INT\_\-EN}]{\setlength{\rightskip}{0pt plus 5cm}\#define BMP\_\-INT\_\-EN~PCIE0}}
\label{bumpers_8c_aa5ed9e4ad40658121f5f231361da7792}
\hypertarget{bumpers_8c_a698e4c4ef51eb6a361fb44ce16a56985}{
\index{bumpers.c@{bumpers.c}!BMP\_\-INT\_\-PIN@{BMP\_\-INT\_\-PIN}}
\index{BMP\_\-INT\_\-PIN@{BMP\_\-INT\_\-PIN}!bumpers.c@{bumpers.c}}
\subsubsection[{BMP\_\-INT\_\-PIN}]{\setlength{\rightskip}{0pt plus 5cm}\#define BMP\_\-INT\_\-PIN~PCINT4}}
\label{bumpers_8c_a698e4c4ef51eb6a361fb44ce16a56985}
\hypertarget{bumpers_8c_a27d0310d8d651cad25b42d3f69473b6b}{
\index{bumpers.c@{bumpers.c}!DDR\_\-BMP\_\-BLEFT@{DDR\_\-BMP\_\-BLEFT}}
\index{DDR\_\-BMP\_\-BLEFT@{DDR\_\-BMP\_\-BLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{DDR\_\-BMP\_\-BLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define DDR\_\-BMP\_\-BLEFT~DDRC}}
\label{bumpers_8c_a27d0310d8d651cad25b42d3f69473b6b}
\hypertarget{bumpers_8c_ab79c07df430cd40450ffde6c73681952}{
\index{bumpers.c@{bumpers.c}!DDR\_\-BMP\_\-BRIGHT@{DDR\_\-BMP\_\-BRIGHT}}
\index{DDR\_\-BMP\_\-BRIGHT@{DDR\_\-BMP\_\-BRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{DDR\_\-BMP\_\-BRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define DDR\_\-BMP\_\-BRIGHT~DDRC}}
\label{bumpers_8c_ab79c07df430cd40450ffde6c73681952}
\hypertarget{bumpers_8c_ac7a1abd6259a76775898a036a54b857f}{
\index{bumpers.c@{bumpers.c}!DDR\_\-BMP\_\-FLEFT@{DDR\_\-BMP\_\-FLEFT}}
\index{DDR\_\-BMP\_\-FLEFT@{DDR\_\-BMP\_\-FLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{DDR\_\-BMP\_\-FLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define DDR\_\-BMP\_\-FLEFT~DDRC}}
\label{bumpers_8c_ac7a1abd6259a76775898a036a54b857f}
\hypertarget{bumpers_8c_a2d8dc099d17f5a4a9a418774c3732162}{
\index{bumpers.c@{bumpers.c}!DDR\_\-BMP\_\-FRIGHT@{DDR\_\-BMP\_\-FRIGHT}}
\index{DDR\_\-BMP\_\-FRIGHT@{DDR\_\-BMP\_\-FRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{DDR\_\-BMP\_\-FRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define DDR\_\-BMP\_\-FRIGHT~DDRC}}
\label{bumpers_8c_a2d8dc099d17f5a4a9a418774c3732162}
\hypertarget{bumpers_8c_a2722e486bb4bd3fa3c2014821b885625}{
\index{bumpers.c@{bumpers.c}!PIN\_\-BMP\_\-BLEFT@{PIN\_\-BMP\_\-BLEFT}}
\index{PIN\_\-BMP\_\-BLEFT@{PIN\_\-BMP\_\-BLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{PIN\_\-BMP\_\-BLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PIN\_\-BMP\_\-BLEFT~PC2}}
\label{bumpers_8c_a2722e486bb4bd3fa3c2014821b885625}
\hypertarget{bumpers_8c_a74ca582151b7fa03e3c1c38a21696bab}{
\index{bumpers.c@{bumpers.c}!PIN\_\-BMP\_\-BRIGHT@{PIN\_\-BMP\_\-BRIGHT}}
\index{PIN\_\-BMP\_\-BRIGHT@{PIN\_\-BMP\_\-BRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{PIN\_\-BMP\_\-BRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PIN\_\-BMP\_\-BRIGHT~PC3}}
\label{bumpers_8c_a74ca582151b7fa03e3c1c38a21696bab}
\hypertarget{bumpers_8c_a124939734d84456fabf12c8de8ce1329}{
\index{bumpers.c@{bumpers.c}!PIN\_\-BMP\_\-FLEFT@{PIN\_\-BMP\_\-FLEFT}}
\index{PIN\_\-BMP\_\-FLEFT@{PIN\_\-BMP\_\-FLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{PIN\_\-BMP\_\-FLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PIN\_\-BMP\_\-FLEFT~PC0}}
\label{bumpers_8c_a124939734d84456fabf12c8de8ce1329}
\hypertarget{bumpers_8c_a84c08209af021c951f5c2e3eb559d84c}{
\index{bumpers.c@{bumpers.c}!PIN\_\-BMP\_\-FRIGHT@{PIN\_\-BMP\_\-FRIGHT}}
\index{PIN\_\-BMP\_\-FRIGHT@{PIN\_\-BMP\_\-FRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{PIN\_\-BMP\_\-FRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PIN\_\-BMP\_\-FRIGHT~PC1}}
\label{bumpers_8c_a84c08209af021c951f5c2e3eb559d84c}
\hypertarget{bumpers_8c_a3ed77c93f74b86920f484dd49539768d}{
\index{bumpers.c@{bumpers.c}!PORT\_\-BMP\_\-BLEFT@{PORT\_\-BMP\_\-BLEFT}}
\index{PORT\_\-BMP\_\-BLEFT@{PORT\_\-BMP\_\-BLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORT\_\-BMP\_\-BLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORT\_\-BMP\_\-BLEFT~PORTC}}
\label{bumpers_8c_a3ed77c93f74b86920f484dd49539768d}
\hypertarget{bumpers_8c_a52a7528175dd31e25cac97a86d23c5c0}{
\index{bumpers.c@{bumpers.c}!PORT\_\-BMP\_\-BRIGHT@{PORT\_\-BMP\_\-BRIGHT}}
\index{PORT\_\-BMP\_\-BRIGHT@{PORT\_\-BMP\_\-BRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORT\_\-BMP\_\-BRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORT\_\-BMP\_\-BRIGHT~PORTC}}
\label{bumpers_8c_a52a7528175dd31e25cac97a86d23c5c0}
\hypertarget{bumpers_8c_a422e1539b06e6645658c6c683ba7a1c3}{
\index{bumpers.c@{bumpers.c}!PORT\_\-BMP\_\-FLEFT@{PORT\_\-BMP\_\-FLEFT}}
\index{PORT\_\-BMP\_\-FLEFT@{PORT\_\-BMP\_\-FLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORT\_\-BMP\_\-FLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORT\_\-BMP\_\-FLEFT~PORTC}}
\label{bumpers_8c_a422e1539b06e6645658c6c683ba7a1c3}
\hypertarget{bumpers_8c_a43716c4bbf698726481b488113fb3578}{
\index{bumpers.c@{bumpers.c}!PORT\_\-BMP\_\-FRIGHT@{PORT\_\-BMP\_\-FRIGHT}}
\index{PORT\_\-BMP\_\-FRIGHT@{PORT\_\-BMP\_\-FRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORT\_\-BMP\_\-FRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORT\_\-BMP\_\-FRIGHT~PORTC}}
\label{bumpers_8c_a43716c4bbf698726481b488113fb3578}
\hypertarget{bumpers_8c_a5889dc92bab5a071b581c51b7b5b7710}{
\index{bumpers.c@{bumpers.c}!PORTPIN\_\-BMP\_\-BLEFT@{PORTPIN\_\-BMP\_\-BLEFT}}
\index{PORTPIN\_\-BMP\_\-BLEFT@{PORTPIN\_\-BMP\_\-BLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORTPIN\_\-BMP\_\-BLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORTPIN\_\-BMP\_\-BLEFT~PINC}}
\label{bumpers_8c_a5889dc92bab5a071b581c51b7b5b7710}
\hypertarget{bumpers_8c_a89bcc764484fb730fdf61b9399969386}{
\index{bumpers.c@{bumpers.c}!PORTPIN\_\-BMP\_\-BRIGHT@{PORTPIN\_\-BMP\_\-BRIGHT}}
\index{PORTPIN\_\-BMP\_\-BRIGHT@{PORTPIN\_\-BMP\_\-BRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORTPIN\_\-BMP\_\-BRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORTPIN\_\-BMP\_\-BRIGHT~PINC}}
\label{bumpers_8c_a89bcc764484fb730fdf61b9399969386}
\hypertarget{bumpers_8c_a3b81bf98edab254fcb26f46b38d5666b}{
\index{bumpers.c@{bumpers.c}!PORTPIN\_\-BMP\_\-FLEFT@{PORTPIN\_\-BMP\_\-FLEFT}}
\index{PORTPIN\_\-BMP\_\-FLEFT@{PORTPIN\_\-BMP\_\-FLEFT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORTPIN\_\-BMP\_\-FLEFT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORTPIN\_\-BMP\_\-FLEFT~PINC}}
\label{bumpers_8c_a3b81bf98edab254fcb26f46b38d5666b}
\hypertarget{bumpers_8c_a3dd2b8f3e86067164293943f97a45771}{
\index{bumpers.c@{bumpers.c}!PORTPIN\_\-BMP\_\-FRIGHT@{PORTPIN\_\-BMP\_\-FRIGHT}}
\index{PORTPIN\_\-BMP\_\-FRIGHT@{PORTPIN\_\-BMP\_\-FRIGHT}!bumpers.c@{bumpers.c}}
\subsubsection[{PORTPIN\_\-BMP\_\-FRIGHT}]{\setlength{\rightskip}{0pt plus 5cm}\#define PORTPIN\_\-BMP\_\-FRIGHT~PINC}}
\label{bumpers_8c_a3dd2b8f3e86067164293943f97a45771}


\subsection{Function Documentation}
\hypertarget{bumpers_8c_aa64c6dce15e9de9105b4ae9533c9a267}{
\index{bumpers.c@{bumpers.c}!ISR@{ISR}}
\index{ISR@{ISR}!bumpers.c@{bumpers.c}}
\subsubsection[{ISR}]{\setlength{\rightskip}{0pt plus 5cm}ISR (PCINT0\_\-vect)}}
\label{bumpers_8c_aa64c6dce15e9de9105b4ae9533c9a267}
